ResearchBenchmarksMulti-Robot Coverage Path Planning on CapeMulti-Robot Coverage Path Planning on CapeFollow1.96Time Cost (s)MRCPP-17.1296111.7252240.58369.4348Apr 24, 2026Evaluation resultsMethodMethodLinksTime Cost (s)Energy Consumption (Wh)Path Length (km)MRCPPNumber of AAVs=4Number of AAVs=42026.041.96684.6343.06MRCPPNumber of AAVs=6Number of AAVs=62026.042.5711.8844.71MRCPPNumber of AAVs=8Number of AAVs=82026.043.15809.3750.95MRCPPNumber of AAVs=10Number of AAVs=102026.043.7923.4758.28EAMCMPNumber of AAVs=4Number of AAVs=42026.04479.2783.1447.64